Dante II

 

General description of the walking machine project

Name of the walking machine/project:$Dante\; II$
Begin and end of the Project:$August\; 93\; -\; July\; 94$
Project costs:$$
Building effort [person years]:$19$
Source of financial support:$1.700.000\; USD\; for\; robot\; fabrication\; and\; mission\; deployment$
in volcano (Mount Spurr, Alaska)

Research group

Carnegie Mellon University, Field Robotics Center

Staff of the project:

Regis Hoffman, Terry Fong, Tim Hegadorn, Joe Hosteny, Ryan Miller, Lisa Housaini, Alex Scharf, Eric
Rollins, Murali Krishna, Ed Mutchler, Jack Silberman, John Bares (bares@cmu.edu), David Wettergreen,
Dimitrious Apostolopoulos, Chris Fedor, Henning Pangels, Jay West, Red Whittaker, Scott Boehmke
http://www.frc.ri.cmu.edu/FRC/people.html

Information via www: http://maas-neotek.arc.nasa.gov/dante

Contact address:

John Bares, Carnegie Mellon University, Field Robotics Center
5000 Forbes Avenue, Pittsburgh, PA, USA
Tel: , Fax: , Email: skb@cmu.edu

Technical data of the walking machine

Dimension Capacity Mobility Energy supply

Length 2.4m Max. speed 100cm/min Number of legs 8 Energy supply through tether

Hight 3.0m Weight 770kg Act. degrees of freedom 11 Power supply 1000VAC

Width 3.6m Load Pas. degrees of freedom 0 Power consumption 0.5-1.5kW full motion

References

[Wettergreen et al., 1993a, Schofield, 1994, Henkel, 1994, Boehmke and Bares, 1995]

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